now you may need to use DELIMITER but for the sake of consistency i have just copied what worked in SQL Fiddle by setting the Schema Delimiter to be // (forth button bellow the Schema Window)

then from there i then do a select of this table by giving each row a group id. since you want groups of 10 i have set the group to be multiples of 10 and then group by this group id using GROUP_CONCAT to make the rows.

select myRow
from (
SELECT group_concat(id SEPARATOR ', ') as `myRow`, CEIL(id/10) as `groupId`
FROM numTable group by `groupID`) as myTable;

since we don't want to show the group id i then make this a sub-select and only select my new rows. if you use this in something like PHP or C# to output the rows you can just do the one select since you don't have to output everything you get from a query result.